MorphIK: Morphology-Conditioned Neural Inverse Kinematics for Unknown Robots
arXiv:2609.29908v1 Announce Type: cross Abstract: Neural models can learn to generate various solutions to the inverse kinematics problem from data, but are usually limited to a single robot. We present MorphIK, a flow-matching model that solves inverse kinematics for revolute-joint-based kinematic…